An automatic loading and unloading robot

Abstract

The application relates to the technical field of loading and unloading equipment, and particularly relates to an automatic loading and unloading robot, which comprises a front conveying device of the loading and unloading robot, a middle conveying arm and a rear conveying arm, the front conveying device of the loading and unloading robot is movably connected with the middle conveying arm, the middle conveying arm is movably connected with the rear conveying arm through a universal head, both sides of the front conveying device and / or both sides of the middle conveying arm and / or both sides of the rear conveying arm are respectively provided with tension clamping devices, the middle conveying arm is provided with a power assembly, the power assembly comprises a rotary tray, and the rotary tray is rotatably arranged on a vehicle body; the application can adapt to the transportation of different goods, can automatically adjust the size of clamps of a conveying end according to the size of the goods, has rich application scenarios, and solves the problem that transmission speed cannot be accurately controlled through front and rear conveying belts; the two conveying belts can more efficiently convey goods.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of loading and unloading equipment, in particular to an automatic loading and unloading robot. BACKGROUND

[0002] The loading and unloading of goods is an important link in warehouse logistics, which determines the efficiency of logistics. In the traditional way, the carrying of goods is completed by manual work, but manual carrying is high in cost and low in efficiency. In order to improve work efficiency and reduce the cost of goods loading and unloading, the current technology in the field has gradually developed towards loading and unloading robots, but in the process of realizing the loading and unloading of goods by the loading and unloading robot, the multi-angle adjustment of the mechanical arm, the box conveying capacity of the large arm conveying mechanism and the flexible handling capacity of the box directly affect the handling effect of the robot on the box loading and unloading. At the same time, for the loading and unloading equipment provided with two or more mechanical arms, the relative motion between the front and rear mechanical arms also needs to be solved, and the stability and reliability of the swing of the related mechanical arms are ensured. The front conveying device needs to complete the stacking operation and ensure the safety of the automatic loading and unloading process and the stability of the goods conveying. The applicant has carried out joint development of related technologies, combined with the research and development advantages of all parties to solve the above technical problems, and processed a sample machine "automatic loading and unloading vehicle robot". SUMMARY

[0003] In view of the above shortcomings, the present application provides an automatic loading and unloading robot with good box loading and unloading handling effect.

[0004] To achieve the above purpose, the present application adopts the following technical scheme:

[0005] An automatic loading and unloading robot, comprising a loading and unloading robot front conveying device, a middle conveying arm and a rear conveying arm, the loading and unloading robot front conveying device is movably connected with the middle conveying arm; the middle conveying arm is movably connected with the rear conveying arm through a universal joint; the two sides of the front conveying device and / or the two sides of the middle conveying arm and / or the two sides of the rear conveying arm are respectively provided with tension clamping devices;

[0006] The loading and unloading robot front conveying device comprises a device body, a conveying belt assembly is arranged on the device body, a clearance groove is arranged at the middle position of the conveying belt of the conveying belt assembly, and a box poking rod is movably arranged in the clearance groove; the box poking rod can move back and forth above the conveying belt and assist in the conveying of the box;

[0007] The rear conveying arm comprises a movable conveying structure of a loading and unloading robot, the movable conveying structure of the loading and unloading robot comprises a conveying arm body, a fixed conveying belt assembly and a movable conveying belt assembly are arranged on the conveying arm body, the movable conveying belt assembly comprises a structural support, the rear end of the universal joint is connected with the structural support of the movable conveying belt assembly, the main body of the structural support is movably arranged on the conveying arm body, a plurality of first conveying belts and first transmission roller bodies are arranged on the structural support, the fixed conveying belt assembly is fixed on the conveying arm body, the fixed conveying belt assembly comprises a plurality of second conveying belts and second transmission roller bodies, the first conveying belts and the second conveying belts are arranged alternately.

[0008] The middle conveying arm is provided with a power assembly, the power assembly comprises a rotary tray, the rotary tray is rotatably arranged on the vehicle body, a front rocker and a rear rocker are arranged on the rotary tray, one end of the front rocker and one end of the rear rocker are movably connected with the middle conveying arm, the up-down swing adjustment of the middle conveying arm is realized through the cooperative force of the front rocker and the rear rocker, the left-right orientation adjustment of the middle conveying arm is realized through the rotation of the rotary tray, a lifting hydraulic cylinder is further arranged, the lifting hydraulic cylinder is movably arranged on the rotary tray and arranged between the front rocker and the rear rocker, the top of the lifting hydraulic cylinder is movably connected with the middle conveying arm.

[0009] Optionally, the conveying belt assembly comprises a let-in recess roller set, the let-in recess roller set is arranged at the let-in recess and comprises a first turning roller, a second turning roller, a third turning roller and a fourth turning roller which are arranged in a U-shaped combination, the let-in recess roller set promotes the conveying belt to form the let-in recess.

[0010] Optionally, the device body is connected with the middle conveying arm through a rotating assembly, the rotating assembly comprises a belt machine base plate, a U-shaped connecting plate and a joint speed reducer, both ends of the belt machine base plate are connected with both sides of the device body, the joint speed reducer comprises a speed reduction motor and a joint rotating table, the joint rotating table penetrates through the middle part of the belt machine base plate and is connected with the belt machine base plate, the middle part of the U-shaped connecting plate is connected with the outer end of the joint rotating table, both ends of the U-shaped connecting plate are connected on the middle conveying arm, the relative rotation of the belt machine base plate relative to the U-shaped connecting plate can be realized under the action of the joint speed reducer, and then the rotation of the device body relative to the middle conveying arm is realized.

[0011] Optionally, two ends of the U-shaped connecting plate are connected to the spiral bevel gear reverser of the middle conveying arm, and two side plates of the U-shaped connecting plate are horizontally arranged in up-down direction; the U-shaped connecting plate is driven to rotate under the action of the spiral bevel gear reverser, so as to realize horizontal swinging of the device body relative to the middle conveying arm in left-right direction and up-down direction.

[0012] Optionally, the cargo box poking rod comprises a horizontal rod, a connecting block, a movable rod and a synchronous belt clamping plate; the left and right sides of the horizontal rod are respectively connected with one connecting block; the upper end of the movable rod is rotatably connected with the connecting block; the lower end of the movable rod is rotatably connected with the synchronous belt clamping plate; the synchronous belt clamping plate is driven to displace by a synchronous belt.

[0013] Optionally, a limiting groove and a guide plate are further arranged on the device body, the synchronous belt clamping plate is movably arranged in the limiting groove; the guide plate is provided with a guide groove; the inside of the movable rod is provided with a lead screw corresponding to the guide groove; the guide groove corresponding to the accommodation groove is a downward curved arc groove structure, which plays a role of guiding the cargo box poking rod to be stored in the accommodation groove.

[0014] Optionally, the two sides of the structural support are respectively provided with a moving rod, and the conveying arm body is provided with a plurality of guide groove blocks corresponding to the moving rods; the movable conveying belt assembly is movably connected with the conveying arm body through the moving rods.

[0015] Optionally, the tensioning and clamping device comprises a power source assembly, a telescopic assembly, a pressing plate and a fixing frame; the telescopic assembly is composed of a plurality of telescopic plates, two telescopic plates are connected by hinges to form a V-shaped structure unit, the pressing plate and the fixing frame are respectively arranged on the left and right sides of the V-shaped structure unit; the V-shaped structure unit is expanded or contracted in left-right direction under the action of the power source assembly on the telescopic assembly, so as to realize the expansion or contraction of the pressing plate in left-right direction; the power source assembly adopts a motor as a power source; the power source assembly comprises a rocker and a pull rod; one end of the rocker is connected with a power output shaft of the power source assembly, and the other end of the rocker is connected with one end of the pull rod through a rotating shaft; the other end of the pull rod is connected with the telescopic plate of the V-shaped structure unit through a rotating shaft.

[0016] Optionally, the telescopic assembly comprises a first V-shaped structure unit, a second V-shaped structure unit, a third V-shaped structure unit and a lead plate; the lead plate is provided with a lead limiting structure; the hinge end of the first V-shaped structure unit adopts a first hinge rod, and the first hinge rod is connected with the rear end of the lead plate; the left and right sides of the other end of the first V-shaped structure unit are respectively connected with the pressing plate and the fixing frame through hinge structures.

[0017] The hinged end of the second V-shaped structure unit adopts a second hinged rod, which is arranged on the lead limiting structure and can move along the front and back directions on the lead limiting structure; the left and right sides of the other end of the second V-shaped structure unit are connected with the extrusion plate and the fixed frame through hinged structures, respectively;

[0018] The hinged end of the third V-shaped structure unit adopts a third hinged rod, which is connected with the front end of the lead plate; the left and right sides of the other end of the third V-shaped structure unit are connected with the extrusion plate and the fixed frame through hinged structures, respectively.

[0019] Optionally, the telescopic plate of the second V-shaped structure unit and the telescopic plate of the third V-shaped structure unit form a parallelogram structure.

[0020] Compared with the prior art, the present application has the following advantages:

[0021] 1. The movable conveying structure of the loading and unloading robot adopts a combined design of a fixed conveying belt assembly and a movable conveying belt assembly, which meets the relative swinging needs of the two sections of conveying arms without affecting the material conveying of the rear section; by alternately arranging the first conveying belt and the second conveying belt, the smoothness and stability of material conveying are ensured, and the use effect is good.

[0022] 2. The present application is provided with a tensioning and clamping device to realize the clamping and guiding of the container, and the size of the opening of the tensioning and clamping device can be adjusted to realize the loading and unloading of different specifications of containers within a certain range, for example, the actual clamping space of the tensioning and clamping device is about 5mm larger than the container, which is conducive to ensuring the stability and safety of the conveying process during loading and unloading of the container.

[0023] 3. By adjusting the left and right positions of the tensioning and clamping device relative to the conveying belt, the container can be stacked in a row along the left or right side; because the width of the front conveying device of the loading and unloading robot is relatively wide, when stacking is needed, the position of the tensioning and clamping device on the left or right side can be adjusted, and then the container can be pushed along the left or right side, realizing standard stacking, and the use effect is good.

[0024] 4. When loading, the container is conveyed forward along the conveying belt to the container stacking position, and in fact, when the container starts to partially separate from the conveying belt, the rear part of the container is still on the conveying belt, i.e. the container cannot be completely conveyed to the container stacking position by the conveying belt alone, which will cause the container to be out of position. At this time, the container pushing lever pushes the container forward to the container stacking position, and after the action is completed, the pushing lever is returned to the position of the recess to prevent blocking the forward transmission of the next container.

[0025] 5.The telescopic assembly of the present application realizes the telescopic function by adopting a plurality of V-shaped structural units, and you can realize stable clamping operation of the extruded plate with a length of more than 2-3 meters by using one telescopic assembly, and the clamping effect is good, the control is flexible and uniform, especially meets the needs of the continuous and balanced clamping intervention required in the long-distance conveying process of loading and unloading goods, and does not affect the continuous and smooth movement of goods.

[0026] 6.The power system of the present application is especially suitable for loading and unloading robots with long-arm structure of the front conveying arm, and the rear conveying arm is fixedly connected with the vehicle body, and the front conveying arm is movably connected with the rear conveying arm, so that the front conveying arm can be flexibly adjusted in various positions, shapes and angles, and the adaptability to various actual operation environments is better, and the material conveying effect is better, and the phenomenon of material conveying not smooth caused by the position of the conveying arm and the shelf being not adjustable or not flexible in actual operation is significantly reduced; the power assembly of the present application can realize effective power control of the long-arm type front conveying arm, because the power assembly is arranged at the lower rear part of the front conveying arm, the problem of needing stable and large driving force for adjustment of the front conveying arm in the material conveying process while not losing the flexibility required for action adjustment is solved, the use effect is good, and the power reliability is strong. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description.

[0028] Figure 1 is a perspective view of the loading and unloading robot movable conveying structure of the present application after the second conveying belt is removed;

[0029] Figure 2 is a perspective view of the rear conveying arm of the loading and unloading robot movable conveying structure of the present application;

[0030] Figure 3 is a partial internal view of the rear conveying arm of the loading and unloading robot movable conveying structure of the present application;

[0031] Figure 4 is a rear perspective view of the rear conveying arm of the loading and unloading robot movable conveying structure of the present application;

[0032] Figure 5 is a rear partial internal view of the rear conveying arm of the loading and unloading robot movable conveying structure;

[0033] Figure 6 is a rear perspective view of the loading and unloading robot movable conveying structure of the present application after one of the first partition plates is removed;

[0034] Figure 7 is a combined structure view of the second partition plate of the loading and unloading robot movable conveying structure of the present application;

[0035] Figure 8 is the structural diagram of the movable conveying structure support of the loading and unloading robot of the present application;

[0036] Figure 9 is the structural diagram of the front conveying device of the loading and unloading robot of the present application;

[0037] Figure 10 is the structural diagram of the conveying belt assembly of the front conveying device of the loading and unloading robot of the present application;

[0038] Figure 11 is the structural diagram of the rotating assembly of the front conveying device of the loading and unloading robot of the present application;

[0039] Figure 12 is the structural diagram at the bevel gear reverser of the front conveying device of the loading and unloading robot of the present application;

[0040] Figure 13 is the structural diagram of the belt base plate of the front conveying device of the loading and unloading robot of the present application;

[0041] Figure 14 is the structural diagram at the joint reducer of the front conveying device of the loading and unloading robot of the present application;

[0042] Figure 15 is the structural diagram of the rear side of the front conveying device of the loading and unloading robot of the present application;

[0043] Figure 16 is the structural diagram of the case poking rod of the front conveying device of the loading and unloading robot of the present application;

[0044] Figure 17 is the structural diagram at the synchronous belt clamping plate of the front conveying device of the loading and unloading robot of the present application;

[0045] Figure 18 is Figure 17 is the structural diagram after hiding the synchronous belt clamping plate in the middle;

[0046] Figure 19 is the structural diagram at the pin;

[0047] Figure 20 is the structural diagram at the guide plate;

[0048] Figure 21 is the structural diagram of the present tensioning clamping device;

[0049] Figure 22 is the structural diagram after removing the fixing frame of the present telescopic assembly;

[0050] Figure 23This is a structural schematic diagram of one side of the extrusion plate of this telescopic assembly;

[0051] Figure 24 This is a schematic diagram of the structure of the telescopic assembly after the extrusion plate is removed;

[0052] Figure 25 This is a top view of the telescopic component;

[0053] Figure 26 This is a three-dimensional structural diagram of the telescopic component;

[0054] Figure 27 This is an assembly diagram of the present invention;

[0055] Figure 28 This is a schematic diagram of the power component structure of the present invention;

[0056] Figure 29 This is a schematic diagram of the power assembly of the present invention from another orientation.

[0057] Figure 30 This is a schematic diagram of the upper orientation structure of the power component of the present invention. Detailed Implementation

[0058] like Figures 1-30 As shown, in a loading and unloading robot with two or more conveying arms, such as the automatic loading and unloading robot of the present invention, there are three parts: a front conveying device 18, a middle conveying arm 17, and a rear conveying arm 8. The front conveying device is movably connected to the middle conveying arm; the middle conveying arm is movably connected to the rear conveying arm through a universal joint 7; tensioning clamping devices are respectively provided on both sides of the front conveying device and / or both sides of the middle conveying arm and / or both sides of the rear conveying arm; during operation, the middle conveying arm generally needs to make various adjustment movements, while the rear conveying arm is mainly used for continuous conveying of goods. While ensuring the flexibility and smoothness of the movement of the middle conveying arm, the function of the rear conveying arm in conveying goods is not affected.

[0059] like Figures 1-8 and Figure 28As shown, in this embodiment, the rear conveyor arm 8 is movably connected to the front conveyor arm via a universal joint 7. The rear conveyor arm 8 is provided with a fixed conveyor belt assembly and a movable conveyor belt assembly 86. The movable conveyor belt assembly 86 includes a structural support 9. The main body of the structural support 9 is rectangular and is movably mounted on the rear conveyor arm 8. The structural support 9 is provided with a plurality of first conveyor belts 1 and first drive rollers. In this embodiment, two first conveyor belts 1 are provided, and the first drive rollers include a front first drive roller 11 and a rear first drive roller 14. The two sides of the front first drive roller 11 are respectively fixed to the C-shaped channel steel 6 on both sides by support plates 10. The C-shaped channel steel 6 is then fixed to the C-shaped channel steel 6 on both sides. A movable rod 5 is fixed to the outer side of the steel 6; the first transmission roller 14 on the rear side is fixed to the C-shaped channel steel 6 through the support plate 15; a number of guide blocks 4 are provided on the body of the rear conveyor arm 8 corresponding to the movable rod 5, and the movable rod 5 can be displaced on the guide blocks 4, thereby realizing the horizontal movement of the movable conveyor belt assembly 86 relative to the rear conveyor arm 8. The rear end of the universal head 7 is connected to the structural support 9 of the movable conveyor belt assembly 86. Therefore, when the middle conveyor arm swings in all directions, it can ensure that the middle conveyor arm and the rear conveyor arm 8 are connected to each other without interruption, that is, maintain smooth front and rear transmission, without affecting the flexibility of the swing of the middle conveyor arm. The fixed conveyor belt assembly is fixed to the rear conveyor arm 8; the fixed conveyor belt assembly includes a plurality of second conveyor belts 2 and second drive rollers; the second drive rollers include a front second drive roller 13 and a rear second drive roller 12; the front second drive roller 13 and the rear second drive roller 12 are respectively fixed to the two side walls of the rear conveyor arm 8; in this embodiment, two first conveyor belts 1 are provided, and three second conveyor belts 2 are provided; as Figure 2 As shown, the first conveyor belt 1 and the second conveyor belt 2 are alternately arranged. During use, the two first conveyor belts 1 can achieve horizontal displacement relative to the three second conveyor belts 2, which are in a fixed state. This satisfies the swinging motion of the middle conveyor arm relative to the rear conveyor arm 8, ensuring that the middle conveyor arm can make corresponding positional adjustments according to the on-site working environment. When the middle conveyor arm swings, the structural support 9 will coordinate and make corresponding displacements, but the displacement of the structural support 9 will not affect the normal transport of goods on the rear conveyor arm 8. Overall, this improves the flexibility and stability of goods receiving and transporting. Figure 1 and Figure 6 As shown, it also includes a first partition 3, which is disposed above the first conveyor belt 1 and below the upper conveyor belt of the second conveyor belt 2. Its main function is to improve the stability of the second conveyor belt 2 in conveying heavy objects.

[0060] Optionally, in some embodiments, in order to improve the rigidity of the first partition 3, the first partition 3 is arranged laterally and fixed to the two sides of the rear conveying arm 8 by the upper tightening surfaces 3-1 on both sides. In order to improve its rigidity, a plurality of grooves 3-2 are arranged longitudinally in its middle part.

[0061] Optionally, a second partition 16 is also included. The second partition 16 is disposed below the upper conveyor belt of the first conveyor belt 1, and its function is to improve the stability of the first conveyor belt 1 in conveying heavy objects. The second partition 16 is arranged longitudinally, and its front and rear ends are respectively fixed to the support plate 10 and the support plate 15. In order to improve its rigidity, a plurality of grooves 16-1 are arranged longitudinally in its middle part.

[0062] like Figures 9-20 As shown, the front conveying device 18 of the loading and unloading robot includes a device body, on which a conveyor belt assembly is mounted. Tensioning and clamping devices 39 are mounted on both sides of the conveyor belt assembly. The tensioning and clamping devices 39 on both sides work together to clamp and guide the cargo box. Figure 15 As shown, the tensioning clamping device 39 employs an electrically controlled telescopic assembly 40. The pressing plate 41 of the telescopic assembly 40 clamps and guides the cargo box. The telescopic assembly 40 is driven by a motor to extend and retract to the left and right, thereby extending and retracting the pressing plate 41, and thus achieving the clamping and guiding operation of the cargo box. In a specific implementation, the simplest structure is a telescopic rod (worm gear or hydraulic telescopic cylinder), with a pressing plate 41 at the end of the telescopic rod. The extension and retraction of the pressing plate 41 is controlled by the telescopic rod to achieve the clamping and guiding operation.

[0063] In this embodiment, as Figures 21-25 As shown, the tensioning clamping device 39 includes a power source assembly, a telescopic assembly 40, a pressing plate 41, and a fixing frame. The telescopic assembly 40 is composed of several telescopic plates, and two of the telescopic plates are hinged to form a V-shaped structural unit. The pressing plate 41 and the fixing frame are respectively disposed on the left and right sides of the V-shaped structural unit. The power source assembly applies a torque in the front-back direction to the telescopic assembly, causing the V-shaped structural unit to expand or contract in the left-right direction. At the same time, by using the fixing frame as the fixed side, the pressing plate expands or contracts in the left-right direction. In a specific embodiment, the fixing frame can be configured as follows: the fixing frame has an overall Z-shaped structure, including a lower fixing part 46 and an upper connecting part 45. The lower fixing part 46 is provided with a fixing hole for connecting to the vehicle body of the loading and unloading robot. Figure 27 It can be clearly seen that this tensioning clamping device is fixed to both sides of the vehicle body (i.e., both sides of the conveyor belt) by the fixing frame as a whole; the upper connecting part 45 is provided with a connecting hole for connecting with the V-shaped structure unit.

[0064] like Figure 22As shown, the telescopic assembly includes a first V-shaped structural unit, a second V-shaped structural unit, a third V-shaped structural unit, and a guide plate 62. The guide plate 62 is provided with a guide limiting structure. In this embodiment, the guide limiting structure is a guide groove 58, which is arranged along the front-rear orientation of the guide plate. The first V-shaped structural unit consists of a first telescopic plate 49 and a second telescopic plate 63 arranged left-right. The hinge ends of the first telescopic plate 49 and the second telescopic plate 63 are connected by a first hinge rod 50, which is connected to the rear end of the guide plate 62. Figure 22 As can be seen in this embodiment, the guide plate 62 is provided once and is located at the top; the left and right sides of the other end of the first V-shaped structural unit are respectively connected to the extrusion plate 41 and the upper connecting part 45 of the fixing frame by hinge structures; in this embodiment, the hinge structure can be selected as follows: Figure 24 The hinge plate shown includes a rectangular plate body, with an upper U-shaped groove 53 and a U-shaped groove 67 on each of the upper and lower sides of the rectangular plate body; the upper and lower ends of the telescopic plate of the V-shaped structural unit are movably connected to the U-shaped grooves respectively via a rotating shaft 66. Figures 21-22 As shown, the rear end of the first telescopic plate 49 of the first V-shaped structural unit is connected to the upper connecting part 45 of the fixed frame by bolts 48 through the first hinge plate 47; while the rear end of the second telescopic plate 63 is connected to the rear side of the extrusion plate 41 through the second hinge plate 64.

[0065] The second V-shaped structural unit consists of a third telescopic plate 52 and a fourth telescopic plate 61 arranged left and right. The hinged ends of the third telescopic plate 52 and the fourth telescopic plate 61 are located on the rear end side, which adopts a second hinge rod 51. The upper end of the second hinge rod 51 is located in the lead groove 58 and can move in the front and rear directions within the lead groove 58. The front end of the third telescopic plate 52 is connected to the upper connecting part 45 of the fixed frame by bolts 55 through the third hinge plate 54. The front end of the fourth telescopic plate 61 is connected to the front of the extrusion plate 41 through the fourth hinge plate 60.

[0066] The third V-shaped structural unit consists of a fifth telescopic plate 56 and a sixth telescopic plate 59 arranged left and right. The hinged ends of the fifth telescopic plate 56 and the sixth telescopic plate 59 are located on the front end side, using a third hinge rod 57. The upper end of the third hinge rod 57 is connected to the front end of the guide plate 62. The rear end of the fifth telescopic plate 56 is connected to the upper connecting part 45 of the fixing frame via a third hinge plate 54. The rear end of the sixth telescopic plate 59 is connected to the front side of the extrusion plate 41 via a fourth hinge plate 60. Figure 22 and Figure 25It can be seen that in the embodiment, the third telescopic plate 52 and the fourth telescopic plate 61 of the second V-shaped structure unit and the fifth telescopic plate 56 and the sixth telescopic plate 59 of the third V-shaped structure unit form a parallelogram structure, which is beneficial to improve the stability, synchronism and consistency of the stretching.

[0067] Optionally, the power source assembly is arranged at the rear side of the telescopic assembly 40; the power source assembly comprises a rocker 42, a pull rod 65 and a motor 43; the motor 43 is a reduction stepper motor and is fixed to the vehicle body through a motor fixing frame 44; one end of the rocker 42 is connected with the power output shaft of the motor 43, and the other end is connected with the rear end of the pull rod 65 through a rotating shaft 69; the front end of the pull rod 65 is connected with the upper part of the first telescopic plate 49 through a rotating shaft 68.

[0068] The principle of the above scheme is as follows: first, the fixing frame is connected to the vehicle body as a fixed side; when the motor 43 rotates clockwise by a certain angle, for example, less than 180 degrees, the rocker 42 swings to the rear side by a certain angle, then pulls the pull rod 65, and the pull rod 65 exerts a force on the first telescopic plate 49 in the rear direction; at this time, because the connections of the three sites of the first V-shaped structure unit are all hinged, the middle site of the first V-shaped structure unit pulls the lead plate 62 to the rear, and the end point of the first telescopic plate 49 is connected with the fixing frame, which is the fixed side; at this time, the first V-shaped structure unit expands, which is manifested as the stretching of one side of the second telescopic plate 63; the pulling of the lead plate 62 to the rear is manifested as the compression of the front and rear sites of the parallelogram of the second V-shaped structure unit and the third V-shaped structure unit, and the fixing frame side is the fixed side, that is, fixed, which is further manifested as the expansion of one side of the extrusion plate 41; at this time, the extrusion plate 41 realizes the full-range extrusion of the goods moving on the conveying belt; if it is necessary to adjust the extrusion degree, the positive transmission and reversal of the motor 43 by a certain angle are controlled to adjust the extrusion force of the goods.

[0069] As Figure 27As shown, when applied, the tension clamping device is fixed to the left and right sides of the conveyor belt on the vehicle body of the loading and unloading robot, so as to realize the side pressure intervention on the moving goods (boxes) on the conveyor belt. For example, when unloading, the mechanical arm of the loading and unloading robot is relatively steep, and at this time the conveyor belt is also relatively steep. In order to ensure the safety of the loading and unloading process, the clamping action of the device needs to be exerted at this time, and the clamping action of the device and the conveying force of the conveyor belt are combined to form a combined force, so as to realize the safe unloading of high-position goods and safely convey the high-position goods to a low position. The structure adopted by the device can provide balanced clamping force during long-distance conveying, such as the length of the extrusion plate 41 can be about 3 meters. The device realizes the synchronous stretching and contraction of three units through the combination of the first V-shaped structure unit, the second V-shaped structure unit and the third V-shaped structure unit, ensures the balance of wide-range clamping, and ensures the smoothness, stability and safety of the whole goods conveying process, and has good use effect. When loading, stacking is needed, and the device can be used to adjust the position of the box relative to the left and right positions of the conveyor belt, that is, the box can be stacked in a row along the left or right side. Because, for example, the width of the front conveying device of the loading and unloading robot is relatively wide, when stacking is needed, the position of the box can be adjusted by the device arranged on the left and right sides, and then the box is pushed along the left or right side to realize standard stacking, which has good use effect.

[0070] As shown in Figure 9 , the middle position of the conveyor belt 19 of the conveyor belt assembly is provided with a give way groove 20, and a box poking rod 22 is movably arranged in the give way groove 20. The box poking rod 22 is driven by a synchronous belt 21 and can move back and forth above the conveyor belt 19 to assist the conveying of the box. In this embodiment, the box poking rod 22 adopts the following structure:

[0071] As shown in Figures 16-20 , the box poking rod 22 includes a cross rod 22-1, a connecting block 22-2, a movable rod 22-4, and a synchronous belt clamping plate 22-11. The top view of the cross rod 22-1 is in C-shaped structure, and the left and right sides of the cross rod 22-1 are respectively connected with one connecting block 22-2. Then each connecting block 22-2 is provided with two movable rods 22-4, and the upper end of the movable rod 22-4 is rotatably connected with the connecting block 22-2 through a pin 22-3, as shown in Figure 19 , the pin 22-3 is provided with a groove 22-3-1, so that the movable rod 22-4 can be rotatably arranged. The lower end of the movable rod 22-4 is rotatably connected with the synchronous belt clamping plate. In this embodiment, the following scheme can be preferably adopted: as shown in Figures 17-18As shown, the lower part of the synchronous belt clamping plate 22-11 is provided with a support plate 22-8, and the front and rear sides of the support plate 22-8 are each provided with a insertion hole 22-9; the movable rod 22-4 is rotatably inserted into the insertion hole 22-9 through the insertion rod 22-12 to achieve rotatable connection with the support plate 22-8; and the synchronous belt clamping plate 22-11 is driven to displace by the synchronous belt 21.

[0072] Optionally, as shown in the drawings, Figure 16 As shown, the device body is further provided with a limiting groove 22-7 and a guide plate 22-5, and the synchronous belt clamping plate 22-11 is movably arranged in the limiting groove 22-7; in order to improve the smoothness of movement, the outer side of the lower part of the support plate 22-8 is further provided with two rollers 22-10, and the outer side of the roller 22-10 contacts the inner side wall of the limiting groove 22-7. As shown in the drawings, Figure 20 The guide plate 22-5 is provided with a guide groove 22-5-1; the inner side of the movable rod 22-4 is provided with a lead screw 22-4-1 corresponding to the guide groove, which plays a guiding role; the guide groove 22-5-1 corresponding to the accommodation groove 20 is a downwardly curved arc-shaped groove structure, which is designed to guide the storage of the cargo box shifting rod into the accommodation groove and guide its sliding out of the accommodation groove 20 when the cargo box shifting rod moves to the accommodation groove 20. At the same time, when the cargo box is pushed forward, it plays a certain limiting role in preventing the horizontal rod 22-1 from being excessively tilted backward. Of course, a related limiting device can also be provided on the support plate 22-8 to prevent the horizontal rod 22-1 from being excessively tilted backward due to excessive backward swing of the movable rod 22-4 during the process of pushing the cargo box.

[0073] In this embodiment, the guide groove 22-5-1 is used to achieve the guiding movement, and the rotatable connection of the upper and lower ends of the movable rod 22-4 is used to achieve the storage design of the cargo box shifting rod, which has good use effect.

[0074] Optionally, the conveyor belt assembly comprises an accommodation groove roller set and a power roller set; the accommodation groove roller set is arranged at the accommodation groove 20 and comprises a first turning roller 25, a second turning roller 29, a third turning roller 30 and a fourth turning roller 26 arranged in a U-shaped combination; and the accommodation groove roller set causes the conveyor belt to form the accommodation groove 20. When processing, the width of the accommodation groove 20 is smaller than the size width of the cargo box to ensure that the cargo box can be smoothly conveyed.

[0075] Optionally, as shown in the drawings, Figure 10As shown, the conveying belt assembly comprises a power roller set arranged at the outer periphery of the let-in groove roller set; the power roller set comprises a fifth deflection roller 31, a driving roller 32, a sixth deflection roller 28 and a seventh deflection roller 27; the fifth deflection roller 31, the driving roller 32 and the sixth deflection roller 28 are arranged in a triangle shape, thereby ensuring that the conveying belt 19 can obtain stable driving force; the seventh deflection roller 27 is arranged above the sixth deflection roller 28, the sixth deflection roller 28 plays a rear deflection role on the conveying belt 19 and the seventh deflection roller 27 plays a front deflection role on the conveying belt. By using the above scheme, it can be ensured that only one driving motor and one conveying belt 19 are needed to realize front conveying under the let-in groove 20, and the conveying belt 19 is stable in transmission and good in conveying effect.

[0076] Optionally, in order to meet the operation flexibility required in the process of loading and unloading the container, in the embodiment, the device body is connected with the middle conveying arm 17 through a rotating assembly; the rotating assembly comprises a belt machine base plate 24, a U-shaped connecting plate 35 and an articulated speed reducer; the rear end of the two side plates 23 of the device body is provided with a connecting head 38, and the two ends of the belt machine base plate 24 are connected with the connecting head 38 through bolts 33; the articulated speed reducer can be used by existing devices, which comprises a speed reduction motor and an articulated rotating table; the articulated rotating table penetrates through the middle part of the belt machine base plate 24 and is connected with the belt machine base plate 24 through a first tightening ring 37 arranged on the articulated rotating table; the end of the articulated rotating table is provided with a rotating connecting table 36, and the middle part of the U-shaped connecting plate 35 is connected with the rotating connecting table 36; under the action of the articulated speed reducer, the belt machine base plate 24 can rotate relative to the U-shaped connecting plate 35, thereby realizing the rotation of the device body relative to the middle conveying arm, which is conducive to controlling the slight rotation and inclination of the device body along the left and right directions in the process of loading and unloading the container, so as to better adapt to the requirements of different working conditions. The two ends of the U-shaped connecting plate 35 are connected with the screw bevel gear reverser 34 of the middle conveying arm through connecting shafts 19, and the two side plates of the U-shaped connecting plate 35 are arranged horizontally in the up-down direction; the purpose of this arrangement is that the rotation of the U-shaped connecting plate 35 can be driven under the action of the screw bevel gear reverser 34, thereby realizing the horizontal swinging of the device body relative to the middle conveying arm along the left and right directions with the screw bevel gear reverser 34 as the axis, which is conducive to improving the flexibility of the operation of the device body in the process of loading and unloading the container.

[0077] As Figures 27-30As shown, in the embodiment, the rear lower end of the rear conveying arm 8 is connected with the vehicle body 79, and then the front side thereof is provided with partial supporting force by the universal head 7; the middle conveying arm 17 is provided with a power system, which comprises a power assembly, and the power assembly comprises a rotary tray 74, which is rotatably arranged on the vehicle body 79 through a rotary disc 75. In the embodiment, the rotary tray 74 is arranged below the rear side of the middle conveying arm 17, and in use, is driven to rotate by a first driving motor 89, and the rotary tray 74 is rotated to realize swing adjustment of the left and right directions of the middle conveying arm 17; the rotary tray 74 is provided with a front rocker 71-1 and a rear rocker 76; the front rocker 71-1 is arranged on the rotary tray 74 through a rotating shaft support 80. One end of the front rocker 71-1 and the rear rocker 76 is respectively movably connected with the middle conveying arm 17; in the embodiment, the gravity center and rigid mechanics of the middle conveying arm 17 are considered, and the following scheme is adopted: further comprising a first bracket 84 and a second bracket 70; the first bracket 84 and the second bracket 70 are respectively combined between the two side plates of the middle conveying arm 17, which plays a role in strengthening the rigidity, and meanwhile, the track driving motor of the middle conveying arm 17 is arranged on the second bracket 70, and the purpose of the design is to deviate the gravity center of the middle conveying arm 17 to the rear side and improve the stability of driving. The upper end of the front rocker 71-1 is rotatably connected with the first bracket 84; further comprising a lifting hydraulic cylinder 73; the lifting hydraulic cylinder 73 is movably arranged on the rotary tray 74 and is arranged between the front rocker 71-1 and the rear rocker 76; the upper end of the lifting hydraulic cylinder 73 is rotatably connected with the second bracket 70. Through the synergistic effect of the front rocker 71-1 and the rear rocker 76, the up and down swing adjustment of the front conveying arm is realized; for example, when the middle conveying arm 17 is controlled to swing upward, the rear rocker 76 exerts a force in the rear and downward direction on the middle conveying arm 17 (the swing will not be large), and at this time, the front rocker 71-1 exerts an upward force on the middle conveying arm 17, and at this time, the lifting hydraulic cylinder 73 is also stretched, which plays a role in balancing the oil cylinder and assisting the lifting of the middle conveying arm 17.

[0078] Optionally, in the embodiment, the front rocker 71-1 is movably connected with the middle conveying arm 17 through a connecting rod 72, so as to better realize the lifting effect of the middle conveying arm 17.

[0079] Optionally, a driving shaft 81 is arranged on the vehicle body 79 through the bearing support 71; the right side of the driving shaft 81 is connected with the rear rocker 76, and the left side of the driving shaft 81 is connected with a second rear rocker 82; the upper ends of the rear rocker 76 and the second rear rocker 82 are respectively movably connected with the rear sides of the front conveying arms; in this embodiment, a support shaft 83 is transversely fixed on the rear of the middle conveying arm 17; the upper ends of the rear rocker 76 and the second rear rocker 82 are rotatably connected with the two ends 77 of the support shaft 83; the middle part of the support shaft 83 is connected with the rear conveying arm 8 through the universal head 7; in this embodiment, because the rear conveying arm 8 is fixed on the vehicle body 79, the conveying belt on the rear conveying arm 8 adopts a movable conveying belt assembly 86; the movable conveying belt assembly 86 is movably arranged with the rear conveying arm 8 in the form of a movable groove; the rear end of the universal head 7 is connected with the support of the movable conveying belt assembly 86, so that the middle conveying arm 17 can move at multiple angles and positions relative to the rear conveying arm 8.

[0080] Optionally, a second driving motor 87 and a third driving motor 85 are arranged on the rotary tray 74; the second driving motor 87 and the third driving motor 85 respectively provide driving force for the rear rocker 76 and the front rocker 71-1.

Claims

1. An automatic handling robot, characterized in that: The loading and unloading robot front conveying device is movably connected with the middle conveying arm, the middle conveying arm is movably connected with the rear conveying arm through a universal joint, and the two sides of the front conveying device, the two sides of the middle conveying arm and the two sides of the rear conveying arm are respectively provided with tension clamping devices. The loading and unloading robot front conveying device comprises a device body, a conveying belt assembly is arranged on the device body, a clearance groove is arranged at the middle position of the conveying belt of the conveying belt assembly, and a case poking rod is movably arranged in the clearance groove; the case poking rod can move back and forth above the conveying belt and assist in the conveying of the case. The rear conveying arm comprises a loading and unloading robot movable conveying structure; the loading and unloading robot movable conveying structure comprises a conveying arm body, a fixed conveying belt assembly and a movable conveying belt assembly are arranged on the conveying arm body; the movable conveying belt assembly comprises a structure support, the rear end of the universal joint is connected with the structure support of the movable conveying belt assembly; the main body of the structure support is movably arranged on the conveying arm body; a plurality of first conveying belts and first transmission roller bodies are arranged on the structure support; the fixed conveying belt assembly is fixed on the conveying arm body; the fixed conveying belt assembly comprises a plurality of second conveying belts and second transmission roller bodies; the first conveying belts and the second conveying belts are alternately arranged; The middle conveying arm is provided with a power assembly, the power assembly comprises a rotary tray, the rotary tray is rotatably arranged on a vehicle body; a front rocker and a rear rocker are arranged on the rotary tray; one end of the front rocker and one end of the rear rocker are movably connected with the middle conveying arm; the up-down swing adjustment of the middle conveying arm is realized through the cooperative force of the front rocker and the rear rocker; the left-right orientation adjustment of the middle conveying arm is realized through the rotation of the rotary tray; a lifting hydraulic cylinder is further arranged; the lifting hydraulic cylinder is movably arranged on the rotary tray and between the front rocker and the rear rocker; the top of the lifting hydraulic cylinder is movably connected with the middle conveying arm; The tension clamping device comprises a power source assembly, a telescopic assembly, a pressing plate and a fixing frame; the telescopic assembly is composed of a plurality of telescopic plates, two telescopic plates are connected through a hinge to form a V-shaped structure unit, the pressing plate and the fixing frame are arranged on the left and right sides of the V-shaped structure unit respectively; the V-shaped structure unit is expanded or contracted in the left-right direction under the action of the power source assembly on the telescopic assembly in the front-back direction, and the pressing plate is expanded or contracted in the left-right direction through the fixing frame as a fixed side; the power source assembly adopts a motor as a power source; the power source assembly comprises a rocker and a pull rod; one end of the rocker is connected with the power output shaft of the power source assembly, and the other end of the rocker is connected with one end of the pull rod through a rotating shaft; the other end of the pull rod is connected with the telescopic plate of the V-shaped structure unit through a rotating shaft.

2. The automatic loading and unloading robot according to claim 1, characterized in that: The conveying belt assembly comprises a set of notch-allowing roller groups; the set of notch-allowing roller groups is arranged at the notch-allowing groove and comprises a first turning roller, a second turning roller, a third turning roller and a fourth turning roller arranged in a U-shaped combination; the set of notch-allowing roller groups causes the conveying belt to form the notch-allowing groove.

3. The automatic loading and unloading robot according to claim 1, characterized in that: The device body is connected with the middle conveying arm through a rotating assembly; the rotating assembly comprises a belt seat plate, a U-shaped connecting plate and a joint speed reducer; two ends of the belt seat plate are connected with two sides of the device body; the joint speed reducer comprises a speed reduction motor and a joint rotating table, the joint rotating table passes through the middle part of the belt seat plate and is connected with the belt seat plate; the middle part of the U-shaped connecting plate is connected with the outer end of the joint rotating table; two ends of the U-shaped connecting plate are connected on the middle conveying arm; the belt seat plate can rotate relative to the U-shaped connecting plate under the action of the joint speed reducer, thereby realizing the rotation of the device body relative to the middle conveying arm.

4. The automatic loading and unloading robot according to claim 3, characterized in that: Two ends of the U-shaped connecting plate are connected on the spiral bevel gear reverser of the middle conveying arm, and two side plates of the U-shaped connecting plate are arranged horizontally in an up-down orientation; the rotation of the U-shaped connecting plate can be driven under the action of the spiral bevel gear reverser, thereby realizing the horizontal swinging of the device body relative to the middle conveying arm in left-right orientation and up-down swinging.

5. The automatic loading and unloading robot according to claim 1, characterized in that: The cargo box poking rod comprises a crossbar, a connecting block, a movable rod and a synchronous belt clamping plate; the left and right sides of the crossbar are respectively connected with one connecting block; the upper end of the movable rod is rotatably connected with the connecting block; the lower end of the movable rod is rotatably connected with the synchronous belt clamping plate; the synchronous belt clamping plate is driven to displace by a synchronous belt.

6. An automatic loading and unloading robot according to claim 5, characterized in that: A limiting groove and a guide plate are further arranged on the device body; the synchronous belt clamping plate is movably arranged in the limiting groove; the guide plate is provided with a guide groove; a lead screw is arranged on the inner side of the movable rod corresponding to the guide groove; the guide groove corresponding to the notch-allowing groove is in an arc-shaped groove structure bent downward, which plays a role of guiding the cargo box poking rod to be stored in the notch-allowing groove.

7. The automatic loading and unloading robot according to claim 1, characterized in that: Two moving rods are arranged on the two sides of the structural support; a plurality of guide groove blocks are arranged on the conveying arm body corresponding to the moving rods; the movable conveying belt assembly is movably connected with the conveying arm body through the moving rods.

8. The automatic loading and unloading robot according to claim 1, characterized in that: The telescopic assembly comprises a first V-shaped structure unit, a second V-shaped structure unit, a third V-shaped structure unit and a lead plate; the lead plate is provided with a lead limiting structure; the hinged end of the first V-shaped structure unit adopts a first hinge rod, which is connected with the rear end of the lead plate; the left and right sides of the other end of the first V-shaped structure unit are respectively connected with the extrusion plate and the fixed frame through hinge structures; The hinged end of the second V-shaped structure unit adopts a second hinge rod, which is arranged on the lead limiting structure and can move along the front and rear orientations on the lead limiting structure; the left and right sides of the other end of the second V-shaped structure unit are respectively connected with the extrusion plate and the fixed frame through hinge structures; The hinged end of the second V-shaped structure unit adopts a second hinge rod, which is arranged on the lead limiting structure and can move along the front and rear orientations on the lead limiting structure; the left and right sides of the other end of the second V-shaped structure unit are respectively connected with the extrusion plate and the fixed frame through hinge structures; The hinged end of the third V-shaped structure unit adopts a third hinged rod, which is connected with the front end of the lead plate; the left and right sides of the other end of the third V-shaped structure unit are respectively connected with the extrusion plate and the fixed frame through hinged structures.

9. The automatic loading and unloading robot according to claim 8, characterized in that: The telescopic plate of the second V-shaped structure unit and the telescopic plate of the third V-shaped structure unit form a parallelogram structure.

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